I try to implement a Kalman Filter for speed estimation with a rotary encoder. What I can measure ist the absolute position and I try to estimate the angular velocity.

A paper I found is the following: http://www.diegm.uniud.it/petrella/Azionamenti%20Elettrici%20II/Tesine/Petrella%20et%20al.%20-%20Speed%20Measurement%20Algorithms%20for%20Low-Resolution%20Incremental%20Encoder%20Equipped%20Drives_a%20Comparative%20Analysis.pdf

Kalman

Now there is an implementation of the Kalman Filter, but I'm not sure how I use the input here, which is the acceleration a. The state number 3 is also the acceleration, so how are this two acceleration related? Can I implement the Kalman Filter for speed estimation, when I only have the absolute positioning information?

  • Do you mind estimating the angular position as well? – holmeski Sep 18 at 21:12

Your Answer

 

By clicking "Post Your Answer", you acknowledge that you have read our updated terms of service, privacy policy and cookie policy, and that your continued use of the website is subject to these policies.

Browse other questions tagged or ask your own question.